ZeroMQ Remote API with getContactInfo() C++ Bug

[CroCr]

Take a look at this c++ code,

Code: Select all

#include <iostream>
#include <vector>
#include <tuple>
#include <chrono>
#include <thread>

#include "RemoteAPIClient.h"
using namespace std;


int main(int, char**)
{
    RemoteAPIClient client;
    auto sim = client.getObject().sim();
    client.setStepping(true);
    sim.startSimulation();
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    auto CapsuleHandle = sim.getObject("./Capsule");
    auto data = sim.getContactInfo(0,CapsuleHandle,sim.handleflag_extended);

    while( sim.getSimulationState() != 0 )
    {
        client.step();
    }

    return 0;
}

I get this error

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terminate called after throwing an instance of 'jsoncons::json_runtime_error<std::out_of_range, void>'
  what():  Invalid array subscript
Aborted (core dumped)

The Capsule handle returns valid input (i.e. 60).

CoppeliaSim Edu, Version 4.5.1 (rev. 4) 64bit (serialization version 24). Ubuntu 18.04 LTS.

[coppelia]

Hello,

you are correct. A workaround is to add following to line 2 in lua/sim.lua:

Code: Select all

_S.getContactInfo = sim.getContactInfo
function sim.getContactInfo(...)
    local a, b, c, d = _S.getContactInfo(...)
    if a == nil then
        a = {} b = {} c = {} d = {}
    end
    return a, b, c, d
end

Cheers

[CroCr]

Hello,

you are correct. A workaround is to add following to line 2 in lua/sim.lua:

Code: Select all

_S.getContactInfo = sim.getContactInfo
function sim.getContactInfo(...)
    local a, b, c, d = _S.getContactInfo(...)
    if a == nil then
        a = {} b = {} c = {} d = {}
    end
    return a, b, c, d
end

Cheers

I've placed it and i get this error

Code: Select all

terminate called after throwing an instance of 'jsoncons::conv_error'
  what():  Cannot convert to vector
Aborted (core dumped)

[coppelia]

I cannot reproduce your error (at least on CoppeliaSim V4.6). At what stage exactly is the error produced?

Cheers

[CroCr]

I cannot reproduce your error (at least on CoppeliaSim V4.6). At what stage exactly is the error produced?

Cheers

I didn't understand your question. I'm running the exact C++ example above. You've advised to add some new lines to sim.lua. Adding the suggested lines yields another errors.